A reference governor in a piecewise state affine function

This paper proposes a reference management technique for closed-loop systems with state and/or control constraints. The management rule is represented in the form of a piecewise state affine function obtained from an explicit solution to a quadratic programming problem which explicitly considers not only a constraint fulfillment but also a tracking performance. Furthermore, the effectiveness of the proposed approach is shown by simulation. It is more important to also perform the experimental evaluation to demonstrate its effectiveness using a real position servomechanism.